Fast 3D Modeling of Prosthetic Robotic Hands Based on a Multi-Layer Deformable Design

Li Tian, Jianmin Zheng, Yiyu Cai, Muhammad Faaiz Khan Bin Abdul Halil, Nadia Magnenat Thalmann, Daniel Thalmann, Hanhui Li

Article ID: 406
Vol 8, Issue 1, 2022, Article identifier:

VIEWS - 438 (Abstract) 141 (PDF)

<

Abstract


Current research of designing prosthetic robotic hands mainly focuses on improving their functionality by devising new mechanical structures and actuation systems. Most of existing work relies on a single structure/system (e.g., bone-only or tissue-only) and ignores the fact that the human hand is composed of multiple functional structures (e.g., skin, bones, muscles, and tendons). This may increase the difficulty of the design process and lower the flexibility of the fabricated hand. To tackle this problem, this paper proposes a three-dimensional (3D) printable multi-layer design that models the hand with the layers of skin, tissues, and bones. The proposed design first obtains the 3D surface model of a target hand via 3D scanning, and then generates the 3D bone models from the surface model based on a fast template matching method. To overcome the disadvantage of the rigid bone layer in deformation, the tissue layer is introduced and represented by a concentric tube based structure, of which the deformability can be explicitly controlled by a parameter. The experimental results show that the proposed design outperforms previous designs remarkably. With the proposed design, prosthetic robotic hands can be produced quickly with low cost and be customizable and deformable.


Keywords


Prosthetic hand, Soft materials, 3D printing

Full Text:

PDF

References


Gama Melo EN, Aviles Sanchez OF, Amaya Hurtado D, et al., 2014, Anthropomorphic Robotic Hands: A Review. Ing Desarro, 32:279–313. https://doi.org/10.14482/inde.32.2.4715

Salisbury JK, Roth B, 1983, Kinematic and Force Analysis of Articulated Mechanical Hands. ASME J Mech Transm Autom Des, 105:35–41.

Rothling F, Haschke R, Steil JJ, et al., 2007, Platform Portable Anthropomorphic Grasping with the Bielefeld 20-dof Shadow and 9-dof Tum Hand. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA. https://doi.org/10.1109/iros.2007.4398963

Schmitz A, Pattacini U, Nori F, et al., 2010, Design, Realization and Sensorization of the Dexterous iCub Hand. 10th IEEE-RAS International Conference on Humanoid Robots, Nashville, TN, USA. https://doi.org/10.1109/ichr.2010.5686825

Deimel R, Brock O, 2016, A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping. Int J Robot Res, 35:161–185. https://doi.org/10.1177/0278364915592961

Controzzi M, Clemente F, Barone D, et al., 2017, The SSSAMyHand: A Dexterous Lightweight Myoelectric Hand Prosthesis. IEEE Trans Neural Syst Rehabil Eng, 25:459–468. https://doi.org/10.1109/tnsre.2016.2578980

Piazza C, Catalano MG, Godfrey SB, et al., 2017, The Soft hand Pro-h: A Hybrid Body-controlled, Electrically Powered Hand Prosthesis for Daily Living and Working. IEEE Robot Autom Mag, 24:87–101. https://doi.org/10.1109/mra.2017.2751662

Hughes J, Maiolino P, Iida F, 2018, An Anthropomorphic Soft Skeleton Hand Exploiting Conditional Models for Piano Playing. Sci Robot, 3:3098. https://doi.org/10.1126/scirobotics.aau3098

Liu X, Zhao Y, Geng D, et al., 2021, Soft Humanoid Hands with Large Grasping Force Enabled by Flexible Hybrid Pneumatic Actuators. Soft Robot, 8:175–185. https://doi.org/10.1089/soro.2020.0001

Piazza C, Grioli G, Catalano MG, et al., 2019, A Century of Robotic Hands. Ann Rev Control Robot Auton Syst, 2:1–32.

Gosselin C, Pelletier F, Laliberte T, 2008, An Anthropomorphic Underactuated Robotic Hand with 15 Dofs and a Single Actuator. 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, USA. https://doi.org/10.1109/robot.2008.4543295

Deshpande AD, Xu Z, Weghe MJ, et al., 2011, Mechanisms of the Anatomically Correct Testbed Hand. IEEE/ASME Trans Mechatron, 18:238–250.

Xu Z, Todorov E, 2016, Design of a Highly Biomimetic Anthropomorphic Robotic Hand Towards Artificial Limb Regeneration. 2016 Ieee International Conference on Robotics and Automation (Icra), United States, p3485–3492. https://doi.org/10.1109/icra.2016.7487528

Faudzi AA, Ooga J, Goto T, et al., 2017, Index Finger of a Human-like Robotic Hand Using Thin Soft Muscles. IEEE Robot Autom Lett, 3:92–99. https://doi.org/10.1109/lra.2017.2732059

Tasi BJ, Koller M, Cserey G, 2019, Design of the Anatomically Correct, Biomechatronic Hand. Elsevier, Netherlands.

Heung KH, Tong RK, Lau AT, et al., 2019, Robotic Glove with Soft-elastic Composite Actuators for Assisting Activities of Daily Living. Soft Robot, 6:289–304. https://doi.org/10.1089/soro.2017.0125

Billard A, Kragic D, 2019, Trends and Challenges in Robot Manipulation. Science, 364:8414. https://doi.org/10.1126/science.aat8414

Rus D, Tolley MT, 2015, Design, Fabrication and Control of Soft Robots. Nature, 521:467–475. https://doi.org/10.1038/nature14543

Liu F, Liu C, Chen Q, et al., 2018, Progress in Organ 3D Bioprinting. Int J Bioprint, 4:128.

Ng WL, Yeong WY, Naing MW, 2016, Polyelectrolyte Gelatin-chitosan Hydrogel Optimized for 3D Bioprinting in Skin Tissue Engineering. Int J Bioprint, 2:009. https://doi.org/10.18063/ijb.2016.01.009

An J, Chua CK, Mironov V, 2021, Application of Machine Learning in 3D Bioprinting: Focus on Development of Big Data and Digital Twin. Int J Bioprint, 7:342. https://doi.org/10.18063/ijb.v7i1.342

Tian L, Thalmann NM, Zheng J, et al., 2019, Design of a Highly Biomimetic and Fully-actuated Robotic Finger. 2019 IEEE Symposium Series on Computational Intelligence (SSCI), Xiamen, China. https://doi.org/10.1109/ssci44817.2019.9002870

Palli G, Melchiorri C, Vassura G, et al., 2014, The DEXMART Hand: Mechatronic Design and Experimental Evaluation of Synergy-based Control for Human-like Grasping. Int J Robot Res, 33:799–824. https://doi.org/10.1177/0278364913519897

She Y, Li C, Cleary J, et al., 2015, Design and fabrication of a soft robotic hand with embedded actuators and sensors. J Mechan Robot, 7:021007.

Tian L, Liu J, Thalmann NM, et al., 2019, Design of a Flexible Articulated Robotic Hand for a Humanoid Robot. 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, ON, Canada. https://doi.org/10.1109/humanoids43949.2019.9035025

Feix T, Romero J, Schmiedmayer HB, et al., 2015 The Grasp Taxonomy of Human Grasp Types. IEEE Trans Hum Mach Syst, 46:66–77. https://doi.org/10.1109/thms.2015.2470657

Tian L, Magnenat-Thalmann N, Thalmann D, et al., 2018, A Methodology to Model and Simulate Customized Realistic Anthropomorphic Robotic Hands. Proceedings of Computer Graphics International 2018, Geneva, Switzerland, p153–162. https://doi.org/10.1145/3208159.3208182

Shah PB, Luximon Y, 2017, Review on 3D scanners for head and face modeling. In: International Conference on Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Springer, Berlin, Germany. https://doi.org/10.1007/978-3-319-58463-8_5

Alexander B, Viktor K, 2010, Proportions of Hand Segments. Int J Morphol, 28:755–758.

Li Z, Chang CC, Dempsey PG, et al., 2008, Validation of a Three-dimensional Hand Scanning and Dimension Extraction Method with Dimension Data. Ergonomics, 51:1672–1692. https://doi.org/10.1080/00140130802287280

Shimawaki S, Sakai N, 2007, Quasi-static Deformation Analysis of a Human Finger Using a Three-dimensional Finite Element Model Constructed from CT Images. J Environ Eng, 2:56–63. https://doi.org/10.1299/jee.2.56

Xydas N, Kao I, 1999. Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results. Int J Robot Res, 18:941–950. https://doi.org/10.1177/02783649922066673

Kao I, Lynch KM, Burdick JW, 2016, Contact modeling and manipulation, in Springer Handbook of Robotics. Springer, Berlin, Germany, p931–954. https://doi.org/10.1007/978-3-319-32552-1_37

Rodriguez A, Mason MT, Ferry S, 2012, From Caging to Grasping. Int J Robot Res, 31:886–900. https://doi.org/10.1177/0278364912442972

Maeda Y, Kodera N, Egawa T, 2012, Caging-based Grasping by a Robot Hand With Rigid and Soft Parts. 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA https://doi.org/10.1109/icra.2012.6224626

Vahedi M, van der Stappen AF, 2008, Caging Polygons with Two and Three Fingers. Int J Robot Res, 27:1308–1324. https://doi.org/10.1177/0278364908098485

Tian L, Li H, Wang Q, et al., 2021, Towards Complex and Continuous Manipulation: A Gesture Based Anthropomorphic Robotic Hand Design. IEEE Robot Autom Lett, 6:5461–5468.

Zhou J, Chen Y, Li DC, et al., 2020, 50 Benchmarks for Anthropomorphic Hand Function-based Dexterity Classification and Kinematics-based Hand Design. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA. https://doi.org/10.1109/iros45743.2020.9340982

Langevin G, 2014, InMoov-open Source 3D Printed Life-size Robot. Available from: http://inmoov.fr/project/.

Tian L, Li H, Halil MF, et al., 2020, Fast 3D Modeling of Anthropomorphic Robotic Hands Based on a Multi-layer Deformable Design. Cornell University, New York.




DOI: http://dx.doi.org/10.18063/ijb.v8i1.406

Refbacks

  • There are currently no refbacks.


Copyright (c) 2021 Tian et al.

License URL: https://creativecommons.org/licenses/by/4.0/